CN111419399A - Positioning tracking piece, positioning ball identification method, storage medium and electronic device - Google Patents

Positioning tracking piece, positioning ball identification method, storage medium and electronic device Download PDF

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Publication number
CN111419399A
CN111419399A CN202010186662.8A CN202010186662A CN111419399A CN 111419399 A CN111419399 A CN 111419399A CN 202010186662 A CN202010186662 A CN 202010186662A CN 111419399 A CN111419399 A CN 111419399A
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voxels
positioning
dimensional model
layer
determining
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聂丽萍
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BOE Technology Group Co Ltd
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BOE Technology Group Co Ltd
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Priority to CN202010186662.8A priority Critical patent/CN111419399A/en
Publication of CN111419399A publication Critical patent/CN111419399A/en
Priority to PCT/CN2021/081170 priority patent/WO2021185260A1/en
Priority to US17/639,220 priority patent/US20220405965A1/en
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Abstract

The present disclosure provides a positioning and tracking member, a method of identifying a positioning ball, a storage medium, and an electronic device, by directly placing the positioning and tracking member on a patient's body, there is no need to realize a rigid connection between the positioning and tracking member and the body, thereby avoiding damage to the body; and the identification of the positioning ball in the image space is quickly realized by combining the identification algorithm of the positioning ball and comparing each voxel in the three-dimensional model with the actual size of the positioning ball, so that the identification period is shortened and the identification accuracy is improved.

Description

Positioning tracking piece, positioning ball identification method, storage medium and electronic device
Technical Field
The present disclosure relates to the field of medical navigation, and in particular, to a positioning tracking member, a method for identifying a positioning ball, a storage medium, and an electronic device.
Background
The workflow of a medical field navigation system generally includes medical imaging, preoperative surgical path planning, intraoperative patient image space registration, intraoperative positioning navigation and postoperative effect assessment. Among them, the image space registration of the patient in the operation, also called operation registration, is one of the key technologies in navigation, and the registration precision directly affects the final treatment result of the operation.
The traditional marking ball is fixed on the bone of a patient through skin, so that the marking ball is rigidly connected with the human body and is independent of the human body, the position of the marking ball can be directly determined in an image by scanning and shooting of an imaging device, but if the coordinate of each marking ball in an image space needs to be acquired, the current commonly used image identification mode is that a doctor directly marks marking points on the human body manually by using a prepared tool and acquires the three-dimensional coordinate of each marking point, the method is long in time, tedious in process and not easy to meet clinical requirements, and meanwhile, the identification process can generate thought errors, and the errors are amplified step by step in the later configuration and registration process, so that the final precision is influenced.
Disclosure of Invention
An object of the embodiments of the present disclosure is to provide a positioning tracking element, a method for identifying a positioning ball, a storage medium, and an electronic device, so as to solve the problems in the prior art that rigid connection between a marker ball and a human body is complex in operation, a coordinate identification process is complicated, and an error is large.
In order to solve the technical problem, the embodiment of the present disclosure adopts the following technical solutions: a position tracking member, comprising: the device comprises a preset number of positioning balls and an object placing plate used for placing all the positioning balls.
Further, the object placing plate is made of polyvinyl chloride.
The embodiment of the present disclosure further provides a method for identifying a location ball, including: acquiring a two-dimensional scanning image of a tracking positioning piece, and determining a three-dimensional model of the tracking positioning piece according to the two-dimensional scanning image; traversing each layer of the three-dimensional model, and determining a connected region set corresponding to each layer; determining all voxels in the three-dimensional model and geometric information of all the voxels according to all the connected region sets; and according to the geometric information of all the voxels, screening out marked voxels with geometric information meeting preset conditions from all the voxels, and determining all the marked voxels to be images of the positioning spheres in the image space.
Further, before traversing each layer of the three-dimensional model and determining a connected region set corresponding to each layer, the method further includes: and segmenting the three-dimensional model based on a preset threshold value.
Further, before traversing each layer of the three-dimensional model and determining a connected region set corresponding to each layer, the method further includes: and carrying out filtering processing on the three-dimensional model.
Further, traversing each layer of the three-dimensional model, and determining a connected region set corresponding to each layer, includes: traversing each layer of the three-dimensional model, and marking all non-zero areas in each layer; and determining a connected region set corresponding to each image layer based on all the non-zero regions in each image layer.
Further, the determining all voxels in the three-dimensional model and the geometric information of all voxels according to all the connected region sets includes: based on the coordinates of all the connected regions in the connected region set in the image space, connecting the connected regions of adjacent layers to determine all voxels in the three-dimensional model; determining geometric information of all voxels based on their coordinates in image space.
Further, the step of screening out labeled voxels with geometric information meeting preset conditions from all the voxels includes: comparing the geometric information of each voxel with the actual size of the positioning sphere; and screening out voxels with the difference value between the geometric information and the actual size within a preset threshold from all the voxels to serve as marked voxels.
The embodiment of the present disclosure further provides a storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method in any one of the above technical solutions.
An embodiment of the present disclosure further provides an electronic device, which at least includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method in any one of the above technical solutions when executing the computer program on the memory.
The beneficial effects of this disclosed embodiment lie in: the positioning tracking piece is directly arranged on the body of the patient, so that the rigid connection between the positioning tracking piece and the human body is not required to be realized, and the damage to the human body is avoided; and the identification of the positioning ball in the image space is quickly realized by combining the identification algorithm of the positioning ball and comparing each voxel in the three-dimensional model with the actual size of the positioning ball, so that the identification period is shortened and the identification accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows a schematic view of a positioning tracker in a first embodiment of the present disclosure;
FIG. 2 shows a schematic view of a detent ball in a first embodiment of the present disclosure;
FIG. 3 is a schematic view of an image of a positioning and tracking member according to a first embodiment of the present disclosure;
fig. 4 shows a flow chart of a method of identifying a location ball in a second embodiment of the present disclosure;
fig. 5 shows a schematic structural diagram of an electronic device in a fourth embodiment of the present disclosure.
Detailed Description
Various aspects and features of the disclosure are described herein with reference to the drawings.
It will be understood that various modifications may be made to the embodiments of the present application. Accordingly, the foregoing description should not be construed as limiting, but merely as exemplifications of embodiments. Other modifications will occur to those skilled in the art within the scope and spirit of the disclosure.
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.
These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the attached drawings.
It should also be understood that, although the present disclosure has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the disclosure, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure that may be embodied in various forms. Well-known and/or repeated functions and structures have not been described in detail so as not to obscure the present disclosure with unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.
The specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the disclosure.
A first embodiment of the present disclosure provides a positioning tracking member, which mainly includes an object placing plate 10 and a preset number of positioning balls 20, in this embodiment, 100 positioning balls are provided on the object placing plate 10 as an example, as shown in fig. 1, the 100 positioning balls 20 are arranged on the object placing plate 10 according to a preset manner, wherein the preset manner is preferably arranged according to an array manner (for example, 10 × 10 array is provided in fig. 1), in other use cases, the preset number of positioning balls 20 may also be arranged according to the area of the to-be-detected portion of the patient and the size of the object placing plate 10 in a concentric circle manner with different radii, or may be arranged according to other required arrangement manners, which is not limited in this embodiment.
Because the positioning tracking piece in the embodiment is placed on the body part to be detected of the patient when in use, if the back of the patient needs to be operated, the positioning tracking piece can be placed on the back of the patient, and the medical imaging equipment and the optical tracking equipment are used for scanning and tracking at the same time. In order to distinguish the localization tracking member from the tissue structure of the human body in the image captured by the medical imaging device, in this embodiment, Polyvinyl chloride (PVC) is preferably used to manufacture the object placing plate 10, the Hu value of PVC is greatly different from the Hu value of the human body, and the skin of the human body and the localization tracking member can be clearly distinguished in the later recognition, so as to improve the accuracy of image recognition. The positioning ball 20 is made of a material which can be identified by both medical imaging equipment and optical tracking equipment, or an imaging material such as metal can be used as a material of a sphere center, and then a reflective material is coated on the outer surface of the positioning ball, so that the positioning ball can be identified by both the medical imaging equipment and the optical tracking equipment, and the accuracy of the coordinate system of the two different equipment during alignment can be improved by respectively identifying the same positioning tracking piece under the two different coordinate systems.
It should be noted that the positioning ball 20 may be a regular spherical member, or an irregular positioning ball as shown in fig. 2, and the protrusion is disposed on the spherical outer surface, and the concave groove is correspondingly disposed on the object placing plate 10, so as to facilitate the installation of the positioning ball 20, or the connection between the positioning ball 20 and the object placing plate 10 is performed by using glue or the like. The image of the irregular positioning ball after scanning and recognition is shown in fig. 3 (only the image of the positioning ball 20 is shown in fig. 3), and the irregular shape facilitates distinguishing from human tissues in the image, and subsequent registration is also convenient.
This embodiment provides a modified location tracking spare, can regard as medical imaging equipment and optical tracking equipment's setting element to use simultaneously, and when using direct volume location tracking spare cover on patient's health can, need not produce the damage to patient's health, and then promoted patient's use and experienced, reach better operation effect.
The second embodiment of the disclosure provides a method for identifying a positioning ball, which is based on a positioning tracking member in the first embodiment of the disclosure and is used for identifying the position of the positioning ball in an image space in the positioning tracking member, wherein the image space in the embodiment is a coordinate space in an image shot by medical imaging equipment, and after the position and the coordinates of the positioning ball in the image space are accurately determined, subsequent registration operation with an actual operation space is facilitated, so that accurate navigation of equipment such as an operation robot is ensured. The flowchart of the identification method provided in this embodiment is shown in fig. 4, and mainly includes steps S1 to S4:
and S1, acquiring a two-dimensional scanning image of the tracking positioner, and determining a three-dimensional model of the tracking positioner according to the two-dimensional scanning image.
In practical use, the tracking positioning piece is placed near a part of a human body to be operated, for example, the tracking positioning piece is placed on the back of a patient, and then scanning shooting is carried out by using medical imaging equipment to obtain a two-dimensional scanning image of the part to be detected of the patient and the tracking positioning piece. Specifically, in general, the imaging device may simultaneously capture a plurality of images, or perform slow moving scanning from one end to the other end when scanning a portion to be detected of a patient, and perform image capturing every short time during the moving process, so as to finally form a plurality of images of the portion to be detected, which necessarily include two-dimensional scanning images of the positioning and tracking member.
Further, based on the plurality of two-dimensional scanning images, three-dimensional reconstruction is performed on the two-dimensional scanning images, so that a three-dimensional model of the tracking positioning element can be obtained.
And S2, traversing each layer of the three-dimensional model, and determining a connected region set corresponding to each layer.
In this embodiment, each layer of the three-dimensional model may be each two-dimensional scanned image forming the three-dimensional model, or the layers may be divided again according to the reconstructed three-dimensional model, and then each layer is traversed to determine all connected regions existing in each layer, so as to form a connected region set corresponding to each layer. For example, in the first layer of the three-dimensional model, the photographed content includes the skin, bones, organs, and location balls and object placing plates of the patient, and based on the density difference of the three-dimensional model, Hu values with different sizes are presented on the layer, that is, the boundary lines of influence between different tissues or parts, which are all presented in the layer as a connected region, for example, the location balls may be presented in the layer as a circle, and the organs may be presented in the layer as a certain cross-sectional shape. It should be understood that any point in each connected region may have its coordinates determined based on a coordinate system in image space, and the number of points in one connected region, and thus the area of each connected region, may be determined based on the coordinates of each point. Specifically, when traversing each layer, firstly, a non-zero region in each layer, that is, a region with a non-zero area in each layer is marked to reduce the number of regions in subsequent processing, and then a connected region set corresponding to each layer is determined based on all non-zero regions in each layer.
In practical implementation, before traversal is performed, the reconstructed three-dimensional model can be segmented based on a preset band-pass threshold, wherein the band-pass threshold is ThighAnd TlowThe specific value is adjusted according to the hu value that the material of the object placing plate can present, and the division according to the band pass threshold aims to separate the part of the tracking positioning piece from the body part of the patient based on the higher hu values of the object placing plate and the positioning ball, so as to reduce the data volume of the subsequent processing, for example, if the hu value of the human skin is 100, the hu value of the positioning ball is 150, and the hu value of the object placing plate is 190, the band pass threshold can be set as Thigh＝140，Tlow200, i.e. according to ThighAnd TlowAnd (3) dividing the part of the hu with the value between 140 and 200 from the three-dimensional model, wherein the divided model mainly consists of the positioning ball and the object placing plate, but can also comprise other parts with the value between 140 and 200 or other tissue structures of the human body, so that subsequent processing steps are required. On this basis, filtering processing may also be performed on the three-dimensional model to eliminate the influence of noise points in the segmented three-dimensional model on subsequent processing, and improve the identification accuracy, where the filtering processing used in this embodiment is filtering processing based on a median. It should be understood that, in actual use, the three-dimensional model may be segmented and then subjected to filtering processing, or the segmentation processing may be performed after filtering, and this embodiment is not limited to this.
And S3, determining all voxels in the three-dimensional model and the geometric information of all the voxels according to all the connected region sets.
Based on the sequential relation among all layers in the three-dimensional model, after all layers are traversed to obtain all corresponding connected region sets, the connected region sets among all the layers are integrated based on the coordinates of all the connected regions in the connected region sets to form three-dimensional connected voxels, and then the geometric information of each voxel is determined based on the determined voxel and the corresponding coordinates, wherein the geometric information mainly comprises the length, the width, the height and the like of the voxel. Specifically, when determining voxels in the three-dimensional model, communicating regions of adjacent layers are communicated mainly based on coordinates of all the communicating regions in an image space, and a communicating region which belongs to the same tissue or component in reality forms a voxel corresponding to the tissue or component in the three-dimensional model, taking a positioning sphere as an example, an entity of the positioning sphere is scanned and then is definitely present in a plurality of continuous layers, and an image presented in each layer is a circular communicating region, the X-axis coordinates and the Y-axis coordinates of the circular communicating regions in the three-dimensional model may be different, but have a unique Z-axis coordinate (for example, a Z-axis coordinate corresponding to the center of the positioning sphere), and the communicating regions all have the same hu value, and then the communicating regions in the plurality of layers are considered as communicating regions belonging to the same tissue or component, and associating the connected regions of all layers in the three-dimensional model based on the mode to determine all voxels in the three-dimensional model.
After all the voxels are determined, the geometric information corresponding to each voxel can be determined based on the coordinates of each point in the connected region. It should be noted that, in the three-dimensional model, the shape and size of each voxel are not regular, and it is impossible to use the same standard representation mode to represent all the voxel shapes, so the length, width and height used in this embodiment are taken as geometric information, the distance of a voxel on the vertical projection of the X axis is taken as the length of the voxel, the distance of the voxel on the vertical projection of the Y axis is taken as the width of the voxel, and the distance of the voxel on the vertical projection of the Z axis is taken as the height of the voxel, and the geometric information of the voxel with irregular shape is represented in this form, which facilitates the subsequent screening of the voxel.
And S4, according to the geometric information of all the voxels, screening the labeled voxels of which the geometric information meets the preset condition from all the voxels, and determining all the labeled voxels to be the images of the positioning spheres in the image space.
In order to identify the voxels corresponding to the positioning sphere in all the voxels of the three-dimensional model, in this embodiment, based on the actual size of the positioning sphere, sequentially detecting whether the geometric information of each voxel meets a preset condition, screening the voxels meeting the preset condition as labeled voxels, where the determined labeled voxels are the voxels corresponding to the positioning sphere, that is, the image of the positioning sphere in the image space.
Specifically, when detecting and screening labeled voxels meeting preset conditions, geometric information of each voxel is compared with an actual size of a positioning sphere, and it should be noted that the actual size of the positioning sphere is also represented in the present embodiment in the same manner as the geometric information of the voxel, that is, distances of vertical projections of the positioning sphere on an X axis, a Y axis and a Z axis respectively are used as the actual size of the positioning sphere; during comparison, whether the difference value between the length, width and height of the voxel and the actual length, width and height of the positioning sphere is within a preset threshold value or not can be detected by means of difference making, and only the voxel with the difference value within the preset threshold value can be used as a marking voxel. In practical use, taking the positioning sphere with the shape shown in fig. 2 as an example, the radius of the upper hemisphere of the positioning sphere is 4.573 mm, the thickness of the convex part in the middle is 2 mm, the diameter is 14.55 mm, the radius of the lower hemisphere is 6.725 mm, and the distances corresponding to the vertical projections on the X-axis, the Y-axis and the Z-axis are 14.55 mm, 14.55 mm and 13.298 mm, since the size of the voxel of the positioning sphere in the three-dimensional model is usually the same as the actual size of the positioning sphere, the preset threshold value can be set to 2 mm in this embodiment, that is, when the difference between the geometric information of the voxel and the actual size of the positioning sphere is within 2 mm, the voxel can be regarded as the image corresponding to the positioning sphere and can be used as the labeled voxel.
In order to facilitate the subsequent registration process, after the image and the specific position of the voxel corresponding to each location sphere in the image space are identified, the coordinates of the center of the location sphere in the image space may be used to represent the specific position of the location sphere in the image space, and of course, the coordinates of other positions may also be selected to represent according to the actual situation, which is not limited in this embodiment.
In the embodiment, the positioning and tracking piece is directly arranged on the body of the patient, and the rigid connection between the positioning and tracking piece and the human body is not required, so that the damage to the human body is avoided; and the identification of the positioning ball in the image space is quickly realized by combining the identification algorithm of the positioning ball and comparing each voxel in the three-dimensional model with the actual size of the positioning ball, so that the identification period is shortened and the identification accuracy is improved.
A third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium storing a computer program that, when executed by a processor, implements the method provided by the second embodiment of the present disclosure, including the following steps S11 to S14:
s11, acquiring a two-dimensional scanning image of the tracking positioning piece, and determining a three-dimensional model of the tracking positioning piece according to the two-dimensional scanning image;
s12, traversing each layer of the three-dimensional model, and determining a connected region set corresponding to each layer;
s13, determining all voxels and geometric information of all voxels in the three-dimensional model according to all connected region sets;
and S14, according to the geometric information of all the voxels, screening the labeled voxels of which the geometric information meets the preset condition from all the voxels, and determining all the labeled voxels to be the images of the positioning spheres in the image space.
The computer program is executed by the processor to traverse each layer of the three-dimensional model, and before determining the connected region set corresponding to each layer, the following steps are also required to be executed: and segmenting the three-dimensional model based on a preset threshold value.
The computer program is executed by the processor to traverse each layer of the three-dimensional model, and before determining the connected region set corresponding to each layer, the following steps are also required to be executed: and carrying out filtering processing on the three-dimensional model.
When the computer program is executed by the processor to traverse each layer of the three-dimensional model and determine the connected region set corresponding to each layer, the following steps are specifically executed by the processor: traversing each layer of the three-dimensional model, and marking all non-zero areas in each layer; and determining a connected region set corresponding to each image layer based on all non-zero regions in each image layer.
When the computer program is executed by the processor to determine all voxels and geometric information of all voxels in the three-dimensional model according to all connected region sets, the processor specifically executes the following steps: based on the coordinates of all the connected regions in the image space in all the connected region sets, connecting the connected regions of adjacent layers, and determining all voxels in the three-dimensional model; based on the coordinates of all voxels in image space, the geometric information of all voxels is determined.
When the computer program is executed by the processor to screen out the marked voxels with the geometric information meeting the preset condition from all the voxels, the processor specifically executes the following steps: comparing the geometric information of each voxel with the actual size of the positioning sphere; and screening out voxels with the difference value between the geometric information and the actual size within a preset threshold value from all the voxels to serve as marking voxels.
In the embodiment, the positioning and tracking piece is directly arranged on the body of the patient, and the rigid connection between the positioning and tracking piece and the human body is not required, so that the damage to the human body is avoided; and the identification of the positioning ball in the image space is quickly realized by combining the identification algorithm of the positioning ball and comparing each voxel in the three-dimensional model with the actual size of the positioning ball, so that the identification period is shortened and the identification accuracy is improved.
A fourth embodiment of the present disclosure provides an electronic device, a schematic structural diagram of which may be as shown in fig. 5, and the electronic device at least includes a memory 100 and a processor 200, where the memory 100 stores a computer program, and the processor 200 implements the method provided in any embodiment of the present disclosure when executing the computer program on the memory 100. Illustratively, the electronic device computer program steps are as follows S21 and S24:
s21, acquiring a two-dimensional scanning image of the tracking positioning piece, and determining a three-dimensional model of the tracking positioning piece according to the two-dimensional scanning image;
s22, traversing each layer of the three-dimensional model, and determining a connected region set corresponding to each layer;
s23, determining all voxels and geometric information of all voxels in the three-dimensional model according to all connected region sets;
and S24, according to the geometric information of all the voxels, screening the labeled voxels of which the geometric information meets the preset condition from all the voxels, and determining all the labeled voxels to be the images of the positioning spheres in the image space.
Before the processor executes traversal on each layer of the three-dimensional model stored in the memory and determines a connected region set corresponding to each layer, the processor further executes the following steps: and segmenting the three-dimensional model based on a preset threshold value.
Before the processor executes traversal on each layer of the three-dimensional model stored in the memory and determines a connected region set corresponding to each layer, the processor further executes the following steps: and carrying out filtering processing on the three-dimensional model.
When the processor executes traversal on each layer of the three-dimensional model stored in the memory and determines a connected region set corresponding to each layer, the following computer program is specifically executed: traversing each layer of the three-dimensional model, and marking all non-zero areas in each layer; and determining a connected region set corresponding to each image layer based on all non-zero regions in each image layer.
When the processor determines all voxels in the three-dimensional model and the geometric information of all voxels according to all connected region sets stored in the memory, the following computer program is specifically executed: based on the coordinates of all the connected regions in the image space in all the connected region sets, connecting the connected regions of adjacent layers, and determining all voxels in the three-dimensional model; based on the coordinates of all voxels in image space, the geometric information of all voxels is determined.
When the processor executes the labeled voxels, which are stored in the memory and whose geometric information meets the preset condition, from all the voxels, the following computer program is specifically executed: comparing the geometric information of each voxel with the actual size of the positioning sphere; and screening out voxels with the difference value between the geometric information and the actual size within a preset threshold value from all the voxels to serve as marking voxels.
In practical implementation, the electronic device may be a medical imaging device such as a CT machine and an X-ray machine, or an electronic device such as another computer terminal and a tablet terminal that performs data communication with the medical imaging device, as long as the above method can be implemented correspondingly.
In the embodiment, the positioning and tracking piece is directly arranged on the body of the patient, and the rigid connection between the positioning and tracking piece and the human body is not required, so that the damage to the human body is avoided; and the identification of the positioning ball in the image space is quickly realized by combining the identification algorithm of the positioning ball and comparing each voxel in the three-dimensional model with the actual size of the positioning ball, so that the identification period is shortened and the identification accuracy is improved.
In some embodiments, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (Hypertext transfer protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communications network). examples of communications networks include local area networks (L AN), Wide Area Networks (WAN), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The storage medium may be included in the electronic device; or may exist separately without being assembled into the electronic device.
The storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.
Alternatively, the storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including but not limited to AN object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages.
It should be noted that the storage media described above in this disclosure can be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any storage medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
For example, without limitation, exemplary types of hardware logic that may be used include Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CP L D), and so forth.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.

Claims (10)

1. A position tracking member, comprising:
the device comprises a preset number of positioning balls and an object placing plate used for placing all the positioning balls.
2. The position tracking member of claim 2, wherein the shelf is made of polyvinyl chloride.
3. A method for identifying a location ball, comprising:
acquiring a two-dimensional scanning image of a tracking positioning piece, and determining a three-dimensional model of the tracking positioning piece according to the two-dimensional scanning image;
traversing each layer of the three-dimensional model, and determining a connected region set corresponding to each layer;
determining all voxels in the three-dimensional model and geometric information of all the voxels according to all the connected region sets;
and according to the geometric information of all the voxels, screening out marked voxels with geometric information meeting preset conditions from all the voxels, and determining all the marked voxels to be images of the positioning spheres in the image space.
4. The identification method according to claim 3, wherein before traversing each layer of the three-dimensional model and determining the set of connected regions corresponding to each layer, the method further comprises:
and segmenting the three-dimensional model based on a preset threshold value.
5. The identification method according to claim 3, wherein before traversing each layer of the three-dimensional model and determining the set of connected regions corresponding to each layer, the method further comprises:
and carrying out filtering processing on the three-dimensional model.
6. The identification method according to claim 3, wherein the traversing each layer of the three-dimensional model to determine the connected region set corresponding to each layer comprises:
traversing each layer of the three-dimensional model, and marking all non-zero areas in each layer;
and determining a connected region set corresponding to each image layer based on all the non-zero regions in each image layer.
7. The method according to claim 3, wherein said determining all voxels in said three-dimensional model and geometric information of said all voxels according to said set of connected regions comprises:
based on the coordinates of all the connected regions in the connected region set in the image space, connecting the connected regions of adjacent layers to determine all voxels in the three-dimensional model;
determining geometric information of all voxels based on their coordinates in image space.
8. The identification method according to any one of claims 3 to 7, wherein the step of screening out labeled voxels from all the voxels whose geometric information meets a preset condition comprises:
comparing the geometric information of each voxel with the actual size of the positioning sphere;
and screening out voxels with the difference value between the geometric information and the actual size within a preset threshold from all the voxels to serve as marked voxels.
9. A storage medium storing a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 3 to 8 when executed by a processor.
10. An electronic device comprising at least a memory, a processor, the memory having a computer program stored thereon, wherein the processor, when executing the computer program on the memory, is adapted to carry out the steps of the method of any of claims 3 to 8.
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